CN108345296A - Intelligent automatic sweeping machine - Google Patents
Intelligent automatic sweeping machine Download PDFInfo
- Publication number
- CN108345296A CN108345296A CN201810421704.4A CN201810421704A CN108345296A CN 108345296 A CN108345296 A CN 108345296A CN 201810421704 A CN201810421704 A CN 201810421704A CN 108345296 A CN108345296 A CN 108345296A
- Authority
- CN
- China
- Prior art keywords
- intelligent automatic
- steering
- sweeping machine
- automatic sweeping
- information processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 19
- 230000010365 information processing Effects 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims abstract description 18
- 230000004888 barrier function Effects 0.000 claims abstract description 9
- 238000004140 cleaning Methods 0.000 claims description 35
- 239000000428 dust Substances 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000002000 scavenging effect Effects 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
- E01H1/053—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having vertical axes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent automatic sweeping machines, including body, driving device, steering, clearing apparatus, detection device, filtration system are provided on body, clearing apparatus controls whether it contacts with ground by electric lifting system, and driving device, steering, clearing apparatus, filtration system, detection device and electric lifting system are controlled by information processing centre system respectively.The present invention uses wireless remote control, one people can operate two or can more work normally simultaneously, a large amount of manpower and materials can be saved in this way, the present invention passes through setting information processing center system, realize to the automation control of whole device and with the connection of hand-held remote control, by the way that surrounding inductor is arranged, realize the detection to barrier or human body distance, and the data transfer of detection is handled to information processing centre system, and the power of the present apparatus is provided by battery pack, will not cause secondary pollution as manned sweeper.
Description
Technical field
The invention belongs to road cleaner technical fields, and in particular to a kind of intelligence automatic sweeping machine.
Background technology
Scavenging machine is that a kind of road-cleaning machinery being widely used in the places such as road, public place sweeps equipment.It cleans
The purposes of machine is very extensive, can be divided into distinguish scavenging machine generally according to the purposes of scavenging machine:Road sweeper, clean collection machine,
Besides dedicated collection machine is mainly these three scavenging machines in general in life, and road sweeper is merely able to will be on road surface
To road both sides, this scavenging machine is generally only used on the road in countryside refuse sweeping.
But the existing manned sweeper of large size, it is to be converted by truck, of high cost, costly, operation is not square
Just, it is also easy to cause street congestion and traffic accident, and manpower cleaning road efficiency is low, dangerous high, labor intensity is big, and every
Nian Douyou largely cleans recrementitious traffic accident because of sanitationman in roadside, to great economic damage caused by country
It loses, also cause prodigious spirit and animally wound to sanitationman or even has thus dedicated life to.
Invention content
The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies of the prior art, provide a kind of at low cost and can reduce
The intelligent automatic sweeping machine of sanitationman's labor intensity.
To solve the above problems, the present invention uses following technical scheme：Intelligent automatic sweeping machine, including body, on body
It is provided with,
The driving device of-driving body movement；
- guide the steering of its moving direction；
- for cleaning the clearing apparatus and filtration system of road, clearing apparatus by electric lifting system control its whether with ground
Contact；
- the detection device for detecting barrier；
Driving device, steering, clearing apparatus, filtration system, detection device and electric lifting system are respectively by information processing
Centring system is controlled.
It is that the present invention advanced optimizes said program below：The detection device includes multiple being separately mounted to body
The surrounding inductor of surrounding.
It advanced optimizes：Described information processing center system is mounted on the position close to one end in body.
It advanced optimizes：Described information processing center system is made of host computer and slave computer two parts, host computer by
PTR2000, MAX232 and PC and communication module assemble, and slave computer is identified by master controller HCS12 microcontrollers, road conditions
Module, speed monitoring module, motor control module and wireless communication module composition.
It advanced optimizes：The driving device is included in the bottom of body and two is symmetrical arranged close to what the position of one end was installed
Rear drive sprocket, rear drive sprocket driven by driving motor.
It advanced optimizes：The steering is included in one of position installation of the bottom of body far from two rear drive sprockets
Steering front wheel, steering front wheel are driven by steer-drive.
It advanced optimizes：The steer-drive includes turning to turbine gearbox, and the side for turning to turbine gearbox passes
Dynamic to be connected with steering servo motor, the side for turning to servo motor is equipped with steering angle sensor.
It advanced optimizes：Position of the front of the body above steering front wheel is equipped with camera.
It advanced optimizes：The clearing apparatus includes being arranged in four side discs cleaning wheels of body both sides and in body
The cleaning roller of bottom setting, side discs cleaning wheel and cleaning roller are by motor-driven rotation.
It advanced optimizes：The organism bottom is equipped with dust catcher close to the position for cleaning roller, is communicated on dust catcher
Filtration system in internal body is set.
In use, by operating personnel by hand-held remote control the control information processing centre system within the scope of 30 meters of distance
It starts or stops, then information processing centre system controls two rear drive sprocket driving equipments and advances, and turns to and drives during advance
Dynamic device driving deflecting roller deflection, and then realize that whole equipment turns to the left or to the right；
Electric lifting system starts simultaneously, and side discs cleaning wheel and cleaning roller are put down, and motor operating drives side discs to clean
Wheel and cleaning roller sweep road rubbish, while dust is drawn onto in filtration system and carries out filtering dust by dust catcher work, and air obtains
It is discharged into aerial after to purification, warning lamp will flash continuously when work, prompt passing people or vehicle；
During advance, if encountering barrier or people and apart from when being 30CM-50CM, surrounding inductor can pass information
Give information processing centre system, the present apparatus that can avoid or halt automatically and alarm at once；
After garbage collection is to certain amount, information processing centre system can be automatically stopped work, and alarm indication work is completed
A cycle.
The present invention uses wireless remote control, a people that can operate two simultaneously or can more work normally, in this way may be used
To save a large amount of manpower and materials, the present invention realizes the automation to whole device by setting information processing center system
Control and the connection with hand-held remote control realize the detection to barrier or human body distance by setting surrounding inductor,
And handle the data transfer of detection to information processing centre system, and the power of the present apparatus is provided by battery pack, no
Secondary pollution can be caused as manned sweeper.
The invention will be further described with reference to the accompanying drawings and examples.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention in embodiment；
Fig. 2 is the structural schematic diagram of the present invention in embodiment；
Fig. 3 is the structural schematic diagram of hand-held remote control in embodiment of the invention；
Fig. 4 is the schematic diagram of information processing centre system in embodiment of the invention；
Fig. 5 is the structural schematic diagram of steering in embodiment of the invention.
In figure：1- rear drive sprockets；2- steering front wheels；3- vehicle frames；4- information processing centres system；5- electric lifting systems；
6- side discs cleaning wheels；7- cleans roller；8- dust catchers；9- filtration systems；10- surrounding inductors；11- hand-held remote controls；12-
Warning lamp；13- battery packs；14- cameras；15- turns to turbine gearbox；16- turns to servo motor；17- steering angles sense
Device.
Specific implementation mode
Embodiment, as Figure 1-Figure 5, intelligent automatic sweeping machine, including body is provided with driving body movement on body
Driving device, guide its moving direction steering, the clearing apparatus for cleaning road and filtration system 9, for examining
The detection device of barrier is surveyed, clearing apparatus controls whether it contacts with ground by electric lifting system 5, driving device, steering
System, clearing apparatus, filtration system 9, detection device and electric lifting system 5 are controlled by information processing centre system 4 respectively
System, information processing centre system 4 are controlled by hand-held remote control 11.
Described information processing center system 4 is mounted on the position close to one end in body, for the information with whole device
Processing and control.
Described information processing center system 4 is made of host computer and slave computer two parts, host computer by PTR2000,
MAX232 and PC and communication module assemble, its function is to send out communication instruction to slave computer, while receiving slave computer
The status information of the sweeper operation sent, and information is handled and corrected, then the parameter corrected is sent to
Slave computer；
Slave computer is by master controller HCS12 microcontrollers, road conditions identification module（GPS, video camera, sensor, steering angle sensing
The compositions such as device）, speed monitoring module, motor control module（Motor servo driver）It is formed with wireless communication module, it is main
It is the route operation for setting the acquisition of traffic information, analysis and decision in the guiding lower edge of GPS, while receives host computer
Communication instruction completes the communication of host computer.
The driving device is included in the two symmetrically arranged rear drive sprockets that the bottom of body is installed close to the position of one end
1, rear drive sprocket 1 is driven by driving motor, and the driving motor connect and is controlled by it with information processing centre system 4,
Two rear drive sprockets 1 are for driving whole device to move.
The connection type of the rear drive sprocket 1 and body is identical as existing connection type.
The steering is included in a steering front wheel 2 of position installation of the bottom of body far from two rear drive sprockets 1,
Steering front wheel 2 is driven by steer-drive, and then is controlled whole device and rotated to the left or to the right.
The connection type of the steering front wheel 2 and body is identical as connection type in the prior art.
The steer-drive includes turning to turbine gearbox 15, turns to turbine gearbox 15 for driving steering front wheel
2 are turned to, and steering turbine gearbox 15 and the connection type of body or steering front wheel 2 are identical as existing connection type.
The side for turning to turbine gearbox 15, which is sequentially connected with, turns to servo motor 16, which is
For the servo motor in slave computer, turns to servo motor 16 and turn to 15 work of turbine gearbox for driving, and turn to servo electricity
Machine 16 and body or the connection type for turning to turbine gearbox 15 are identical as existing connection type.
The side for turning to servo motor 16 is installed with steering angle sensor 17, and steering angle sensor 17 is used
In the steering angle of detection front-wheel 18, which is the steering angle sensor in slave computer.
Position of the front of the body above steering front wheel 2 is installed with camera 14, for acquiring road conditions
Information, and the camera 14 is the video camera in slave computer.
The clearing apparatus includes being arranged in four side discs cleaning wheels 6 of body both sides and being arranged in organism bottom
Roller 7 is cleaned, side discs cleaning wheel 6 and cleaning roller 7 are by motor-driven rotation, and the motor and information processing centre system 4
It connects and is controlled by it.
The side discs cleaning wheel 6 and cleaning roller 7 are identical as existing connection type as the connection type of body.
The organism bottom is equipped with dust catcher 8 close to the position for cleaning roller 7, is communicated with and is arranged in machine on dust catcher 8
The filtration system 9 in internal portion, side discs cleaning wheel 6 and the dust for cleaning the cleaning of roller 7 are sucked by dust catcher 8, and dust catcher 8 will be grey
Dirt is delivered in filtration system 9 and is filtered.
The dust catcher 8 and filtration system 9 are identical as existing connection type as the connection type of body.
The electric lifting system 5 is mounted in body 1, and for controlling side discs cleaning wheel 6 and whether cleaning roller 7
It is contacted with ground.
The connection type and existing company of the electric lifting system 5 and body and side discs cleaning wheel 6 and cleaning roller 7
It is identical to connect mode, and electric lifting system 5 is commercial product.
The detection device includes multiple surrounding inductors 10 for being respectively and fixedly installed to body surrounding, surrounding inductor 10
For detecting it at a distance from barrier or human body, and the data transmission of detection to information processing centre system 4 is subjected to data
Processing.
The surrounding inductor 10 is the sensor in slave computer.
The upper surface of the body is installed with warning lamp 12, and the electricity that promising whole device provides electric power is arranged in body
Pond group 13.
In use, by operating personnel by hand-held remote control 11 the control information processing centre system within the scope of 30 meters of distance
4 start or stop, and then information processing centre system 4 controls two rear drive sprockets 1 driving equipment and advances, and turn during advance
It is deflected to driving device driving deflecting roller 2, and then realizes that whole equipment turns to the left or to the right；
Electric lifting system 5 starts simultaneously, and side discs cleaning wheel 6 and cleaning roller 7 are put down, and motor operating drives side discs clear
Sweeping wheel 6 and cleaning roller 7 sweep road rubbish, while dust is drawn onto in filtration system 9 and carries out filtering dust by the work of dust catcher 8,
Air is discharged into the air after being purified, and warning lamp 12 will flash continuously when work, prompt passing people or vehicle；
During advance, if encountering barrier or people and apart from when being 30CM-50CM, surrounding inductor 10 can be by information
It is transmitted to information processing centre system 4, the present apparatus can avoid or halt automatically and alarm at once；
After garbage collection is to certain amount, information processing centre system 4 can be automatically stopped work, and alarm indication work is completed
A cycle.
The present invention uses wireless remote control, a people that can operate two simultaneously or can more work normally, in this way may be used
To save a large amount of manpower and materials, the present invention realizes the automation to whole device by setting information processing center system
Control and the connection with hand-held remote control realize the detection to barrier or human body distance by setting surrounding inductor,
And handle the data transfer of detection to information processing centre system, and the power of the present apparatus is provided by battery pack, no
Secondary pollution can be caused as manned sweeper.
Claims (10)
1. intelligent automatic sweeping machine, including body, it is characterised in that：It is provided on body,
The driving device of-driving body movement；
- guide the steering of its moving direction；
- for cleaning the clearing apparatus and filtration system of road, clearing apparatus by electric lifting system control its whether with ground
Contact；
- the detection device for detecting barrier；
Driving device, steering, clearing apparatus, filtration system, detection device and electric lifting system are respectively by information processing
Centring system is controlled.
2. a kind of intelligent automatic sweeping machine according to claim 1, it is characterised in that：The detection device includes multiple points
Not An Zhuan body surrounding surrounding inductor.
3. a kind of intelligent automatic sweeping machine according to claim 2, it is characterised in that：Described information processing center system is pacified
Close to the position of one end in body.
4. a kind of intelligent automatic sweeping machine according to claim 3, it is characterised in that：Described information processing center system is
It being made of host computer and slave computer two parts, host computer is assembled by PTR2000, MAX232 and PC and communication module, under
Position machine is by master controller HCS12 microcontrollers, road conditions identification module, speed monitoring module, motor control module and wireless telecommunications
Module forms.
5. a kind of intelligent automatic sweeping machine according to claim 4, it is characterised in that：The driving device is included in body
The two symmetrically arranged rear drive sprockets installed close to the position of one end of bottom, rear drive sprocket driven by driving motor.
6. a kind of intelligent automatic sweeping machine according to claim 5, it is characterised in that：The steering is included in body
Position installation of the bottom far from two rear drive sprockets a steering front wheel, steering front wheel drives by steer-drive.
7. a kind of intelligent automatic sweeping machine according to claim 6, it is characterised in that：The steer-drive includes turning
To turbine gearbox（15）, turn to turbine gearbox（15）Side be sequentially connected with steering servo motor（16）, turn to servo
Motor（16）Side steering angle sensor is installed（17）.
8. a kind of intelligent automatic sweeping machine according to claim 7, it is characterised in that：The front of the body is close to forward
Camera is installed to the position of wheel top（14）.
9. a kind of intelligent automatic sweeping machine according to claim 8, it is characterised in that：The clearing apparatus includes that setting exists
Four side discs cleaning wheels of body both sides and the cleaning roller being arranged in organism bottom, side discs cleaning wheel and cleaning roller
By motor-driven rotation.
10. a kind of intelligent automatic sweeping machine according to claim 9, it is characterised in that：The organism bottom is close to cleaning
The position of roller is equipped with dust catcher, and the filtration system being arranged in internal body is communicated on dust catcher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421704.4A CN108345296A (en) | 2018-05-04 | 2018-05-04 | Intelligent automatic sweeping machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421704.4A CN108345296A (en) | 2018-05-04 | 2018-05-04 | Intelligent automatic sweeping machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108345296A true CN108345296A (en) | 2018-07-31 |
Family
ID=62955227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421704.4A Pending CN108345296A (en) | 2018-05-04 | 2018-05-04 | Intelligent automatic sweeping machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108345296A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109763442A (en) * | 2019-01-31 | 2019-05-17 | 太原理工大学 | Heavy caliber spherical surface wrapping reel type multi function electric cleaning car |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205530067U (en) * | 2016-04-08 | 2016-08-31 | 济宁中科先进技术研究院有限公司 | Road is motor sweeper independently based on laser and vision |
| CN207067800U (en) * | 2017-07-27 | 2018-03-02 | 郑州宇通客车股份有限公司 | Pure electric sanitation sweeper and its automated driving system |
| CN207143824U (en) * | 2017-08-22 | 2018-03-27 | 余双庆 | One kind remote control pavement cleaning vehicle |
| CN208077006U (en) * | 2018-05-04 | 2018-11-09 | 青岛慧伦科技有限公司 | Intelligent automatic sweeping machine |
-
2018
- 2018-05-04 CN CN201810421704.4A patent/CN108345296A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205530067U (en) * | 2016-04-08 | 2016-08-31 | 济宁中科先进技术研究院有限公司 | Road is motor sweeper independently based on laser and vision |
| CN207067800U (en) * | 2017-07-27 | 2018-03-02 | 郑州宇通客车股份有限公司 | Pure electric sanitation sweeper and its automated driving system |
| CN207143824U (en) * | 2017-08-22 | 2018-03-27 | 余双庆 | One kind remote control pavement cleaning vehicle |
| CN208077006U (en) * | 2018-05-04 | 2018-11-09 | 青岛慧伦科技有限公司 | Intelligent automatic sweeping machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109763442A (en) * | 2019-01-31 | 2019-05-17 | 太原理工大学 | Heavy caliber spherical surface wrapping reel type multi function electric cleaning car |
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